Investigations into Exploiting the Full Capabilities of a Series-Parallel Hybrid Humanoid using Whole Body Trajectory Optimization

This repo contains the details of our investigation for a weightlifting task on RH5 Manus robot presented in the paper Investigations into Exploiting the Full Capabilities of a Series-Parallel Hybrid Humanoid using Whole Body Trajectory Optimization. The paper was accepted at the IROS 2023 Conference. A preprint is available on Researchgate. The accompanying video is also available on YouTube.

Citation

M. Boukheddimi, R. Kumar, S. Kumar, J. Carpentier and F. Kirchner, "Investigations into Exploiting the Full Capabilities of a Series-Parallel Hybrid Humanoid using Whole Body Trajectory Optimization," 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023.

@misc{meRo2023,  
author={Boukheddimi, Melya and Kumar, Rohit and Kumar, Shivesh and Carpentier, Justin and Kirchner, Frank},  
title={Investigations into Exploiting the Full Capabilities of a Series-Parallel Hybrid Humanoid using Whole Body Trajectory Optimization},   
year={2023},  
volume={},  
number={},  
pages={},  
doi={}
}